CN109223179A - A kind of both arms operating robot navigation locating method - Google Patents
A kind of both arms operating robot navigation locating method Download PDFInfo
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- CN109223179A CN109223179A CN201811090312.0A CN201811090312A CN109223179A CN 109223179 A CN109223179 A CN 109223179A CN 201811090312 A CN201811090312 A CN 201811090312A CN 109223179 A CN109223179 A CN 109223179A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
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Abstract
The embodiment of the invention discloses a kind of both arms operating robot navigation locating methods, and this method is used for the precise positioning of medical mechanism arm, and including the operation trolley with table top coordinate system, the operation trolley is equipped with navigation mechanical arm and positioning mechanical arm；Obtain patient's medical image information；Lesion profile is delineated according to patient's medical image information, building three-dimensional visualization lesion modeling determines the surgical site coordinate in the modeling of three-dimensional visualization lesion, the guidance path of planning navigation mechanical arm；The coordinate mapping relations between the patient's body surface coordinate system and table top coordinate system are established, control navigation mechanical arm is moved to the table top specified coordinate of corresponding surgical site coordinate.The both arms operating robot navigation locating method does not need additional optical alignment or electromagnetic locator, to save cost, save operating room space and improve operation accuracy.
Description
Technical field
The present invention relates to surgical robot technical fields, and in particular to a kind of both arms operating robot navigator fix side
Method.
Background technique
In common surgical operation, the bone surgeries such as backbone, joint and cerebral surgery operation are since required precision is high, operation is multiple
The reasons such as miscellaneous, postoperative complications are serious, lead to that operating difficulty is big, failure rate is high.Epidemiologic data shows that China is annual at present
At least 100 ten thousand to 150 ten thousand osteoarthropathy patients, 150 ten thousand to 200 ten thousand backbone patients, 30 ten thousand to 40 ten thousand cranial surgery are suffered from
Person needs to carry out operative treatment.In order to solve precision existing for surgical operation it is insufficient, it is irradiated it is more, notch is larger, operation fatigue
The problems such as, people start to inquire into robotic method how is introduced in surgical operation, and existing surgery computer auxiliary is led
Boat system is a kind of operation support system of three-dimensional localization.It in the course of surgery, will be sick in preoperative or art using computer technology
The lesion body of patient during the image data (from CT computed tomography, MRI magnetic resonance imaging etc.) of people, actual operation
Coordinate system where position and operation tool is united.Computer carries out three-dimensional image reconstruction using these image informations,
Surgery planning is carried out for surgeon, and objective, accurate, intuitive, quick, minimally invasive, scientific means are provided；It simultaneously can be according to reality
The needs of border operation, carry out location of operation, to be navigated in real time to operation.
Existing surgical navigational positioning system realizes the seat between operation trolley and patient using optics or electromagnetic location
Mapping relations are marked, optics or electromagnetic locator cost first is very high, and secondly optical alignment is easily blocked in location of operation
Electromagnetic location is easy the interference by metallics to generate error.
Summary of the invention
The embodiment of the present invention is designed to provide a kind of both arms operating robot navigation locating method, using two machinery
Arm reduces product cost, saves operative space, solve simultaneously come the coordinate mapping relations established between operation trolley and patient
Optical alignment and the electromagnetic location of having determined are easy disturbed problem.
To achieve the above object, the embodiment of the present invention provides one kind:
A kind of both arms operating robot navigation locating method, this method are used for the precise positioning of medical mechanism arm, including tool
There is the operation trolley of table top coordinate system, the operation trolley is equipped with navigation mechanical arm and positioning mechanical arm.
Obtain patient's medical image information.
Lesion profile is delineated according to patient's medical image information, building three-dimensional visualization lesion modeling determines three-dimensional visible
Change the surgical site coordinate in lesion modeling, the guidance path of planning navigation mechanical arm.
The coordinate mapping relations between the patient's body surface coordinate system and table top coordinate system are established, control navigation mechanical arm is moved to
The table top specified coordinate of corresponding surgical site coordinate.
Further embodiment, patient's medical image information are CT images or MRI image.
Further embodiment, it is described to delineate lesion profile according to patient's medical image information method particularly includes:
Medical image is shown according to patient's medical image information.
The marked lesion contour edge point on medical image obtains lesion contour edge point coordinate set；
Three-dimensional visualization reconstruction is carried out by MachingCube iso-surface patch algorithm according to lesion profile coordinate set, is obtained
The modeling of three-dimensional visualization lesion.
Further embodiment, the intralesional surgical site coordinate of the determination plan the specific side of inserting needle coordinate pathway
Method are as follows:
The central area coordinate of lesion profile, as surgical site coordinate are determined according to lesion edge point set.
It is located at X-axis, Y-axis, the operation stream of the movement on Z axis and rotation according to surgical site coordinate planning navigation mechanical arm
Journey.
Further embodiment, the coordinate mapping relations established between the patient's body surface coordinate system and table top coordinate system
Method particularly includes:
The MARK point coordinate for the patient's body surface being still in table top coordinate system is obtained using positioning mechanical arm.
If the set C1 of whole MARK point coordinate in the patient's body surface coordinate system, the MARK point that setting position mechanical arm picks up is in platform
Coordinate set C2 in areal coordinate system lets R be m × n rank spin matrix, M as m × n rank transition matrix, then has equation:
C2=R*C1+M；
Above formula is calculated using singular value decomposition SVD (Singular Value Decomposition)；
Wherein, centroidC1For the coordinate average value of C1, centroidC2For the coordinate average value of C2, the singular value point of H
Solution obtains matrix U, Σ, V.
[U, Σ, V]=SVD (H)；
Wherein, U is m × m rank unitary matrice, and Σ is positive semidefinite m × n rank diagonal matrix, and V, the i.e. conjugate transposition of R, be n ×
N rank unitary matrice；It obtains,
R=VUM；
M=-R*centroidC1+centroidC2；
Due to the patient's body surface coordinate system and difference of the table top coordinate system on scale, it is assumed that scale multiple is λ, then has
It is obtained after simplification
Wherein,
Therefore, the coordinate mapping relations between the patient's body surface coordinate system and table top coordinate system are as follows
Wherein, the coordinate A (X in the patient's body surface coordinate systemh,Yh,Zh), it performs the operation trolley coordinate B (Xs, Ys, Zs).
Further embodiment obtains the MARK point for the patient's body surface being still in table top coordinate system using positioning mechanical arm
Coordinate method particularly includes:
Four MARK points are pasted around patient's operative site, guarantee that four MARK points are not located at approximately the same plane；
Relative position between fixed operation trolley and patient, then successively acquires four MARK points using positioning mechanical arm
MARK point coordinate.
The embodiment of the present invention has the advantages that
The both arms operating robot navigation locating method does not need additional optical alignment or electromagnetic locator, thus
Save cost；Additional optical alignment or electromagnetic locator are not needed, to save operating room space；Additional light is not needed
Or electromagnetic locator, avoid in position fixing process and are disturbed, to improve operation accuracy.
Detailed description of the invention
Fig. 1 is a kind of overall structure figure of both arms operating robot navigation locating method provided in an embodiment of the present invention；
Transformational relation figure of the Fig. 2 between patient coordinate system provided in an embodiment of the present invention and table top coordinate system.
In figure,
1, operation trolley；2, navigate mechanical arm；3, positioning mechanical arm.
Specific embodiment
Embodiments of the present invention are illustrated by particular specific embodiment below, those skilled in the art can be by this explanation
Content disclosed by book is understood other advantages and efficacy of the present invention easily.
It should be clear that this specification structure depicted in this specification institute accompanying drawings, ratio, size etc., only to cooperate specification to be taken off
The content shown is not intended to limit the invention enforceable qualifications so that those skilled in the art understands and reads, therefore
Do not have technical essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size are not influencing the present invention
Under the effect of can be generated and the purpose that can reach, it should all still fall in disclosed technology contents and obtain the model that can cover
In enclosing.Meanwhile cited such as "upper", "lower", " left side ", the right side in this specification ", the term of " centre ", be merely convenient to chat
That states is illustrated, rather than to limit the scope of the invention, relativeness is altered or modified, and is changing skill without essence
It is held in art, when being also considered as the enforceable scope of the present invention.
A kind of both arms operating robot navigation locating method, this method is used for the precise positioning of medical mechanism arm, such as Fig. 1 institute
Show, including the operation trolley 1 with table top coordinate system, the operation trolley 1 is equipped with navigation mechanical arm 2 and positioning mechanical arm 3.
Patient's medical image information is obtained, patient's medical image information is CT images or MRI image.
Lesion profile is delineated according to patient's medical image information, building three-dimensional visualization lesion modeling determines three-dimensional visible
Change the surgical site coordinate in lesion modeling, the guidance path of planning navigation mechanical arm.
The coordinate mapping relations between the patient's body surface coordinate system and table top coordinate system are established, control navigation mechanical arm is moved to
The table top specified coordinate of corresponding surgical site coordinate.
Its Principle Method is illustrated to each step below:
The specific method for delineating lesion profile according to patient's medical image information is to be shown by surgical navigational software
Medical image browses for doctor and understands symptom, and doctor identifies focal area and using mouse in the marked lesion on medical image
Contour edge point, system obtain lesion contour edge point coordinate set；Lesion profile coordinate set and medical image information are led
Enter navigation software of performing the operation, carries out three-dimensional visualization reconstruction using MachingCube iso-surface patch algorithm, obtain three-dimensional visualization lesion
Modeling is arranged target spot for doctor and provides foundation.
In MarchingCube algorithm, voxel is with hexahedron in logic, by each four pixel groups on adjacent layer
At cube on eight vertex.Contour surface is the set of all points with some identical value in space.It can be indicated
At (x, y, z) | and ∫ (x, y, z)=c }, c is constant, i.e., the threshold value given during three-dimensionalreconstruction.The basic thought of algorithm is
The cube (voxel) in data fields is handled one by one, sorts out the cube intersected with contour surface, and equivalence is gone out using interpolation calculation
The intersection point on face and cube side is according to the relative position on cube each vertex and contour surface, by the friendship of contour surface and cube side
It presses certain way connection and generates contour surface, approach expression at this cube intracorporal one as contour surface.
The intralesional surgical site coordinate of the determination method particularly includes:
The central area coordinate of lesion profile, as surgical site coordinate, the disease are determined according to lesion edge point set
The shape of stove is approximate ellipse sphere, it is thus determined that the long axial coordinate of oval ball, takes centre for the long axial coordinate line in left and right
Coordinate, as surgical site coordinate.
Plan the specific method of inserting needle coordinate pathway:
It is located at X-axis, Y-axis, the operation stream of the movement on Z axis and rotation according to surgical site coordinate planning navigation mechanical arm
Journey, using surgical navigational software respectively along X-axis Y-axis and Z axis rotation, the inserting needle path for moving adjustment navigation mechanical arm, Yi Sheng
Blood vessel and danger zone can be hidden open in setting up procedure.
The mechanical arm that navigates provides surgical procedure path when guidance surgical, and navigation mechanical arm is moved to a specific bit
It sets, is performed the operation when surgical along the direction of navigation mechanical arm tail end instruction.Navigation mechanical arm provides location information,
For example it moves to crown position, doctor just performs the operation overhead, moves to ear position doctor and just carries out from ear position
Operation；If not navigating mechanical arm, doctor does not know which overhead position punching, has navigation mechanical arm doctor with regard to edge
The guided path of navigation mechanical arm punched and can find lesions position.For example doctor can't see patient where face have in front
Tumour, but computer capacity is known, and so can find tumour according to the guide of computer, the guidance path for the mechanical arm that navigates is negative
Duty is what path punching to find lesion to physician guidance.
The coordinate mapping relations established between the patient's body surface coordinate system and table top coordinate system method particularly includes:
The MARK point coordinate for the patient's body surface being still in table top coordinate system is obtained using positioning mechanical arm.
If the set C1 of whole MARK point coordinate in the patient's body surface coordinate system, the MARK point that setting position mechanical arm picks up is in platform
Coordinate set C2 in areal coordinate system lets R be m × n rank spin matrix, M as m × n rank transition matrix, then has equation:
C2=R*C1+M；
Above formula is calculated using singular value decomposition SVD (Singular Value Decomposition)；
Wherein, centroidC1For the coordinate average value of C1, centroidC2For the coordinate average value of C2, the singular value point of H
Solution obtains matrix U, Σ, V；
[U, Σ, V]=SVD (H)；
Wherein, U is m × m rank unitary matrice, and Σ is positive semidefinite m × n rank diagonal matrix, and V, the i.e. conjugate transposition of R, be n ×
N rank unitary matrice；
It obtains,
R=VUM；
M=-R*centroidC1+centroidC2；
Due to the patient's body surface coordinate system and difference of the table top coordinate system on scale, it is assumed that scale multiple is λ, then has
It is obtained after simplification
Wherein,
Spin matrix
Transition matrix
Therefore, as shown in Fig. 2, the coordinate mapping relations between the patient's body surface coordinate system and table top coordinate system are as follows
Wherein, the coordinate A (X in the patient's body surface coordinate systemh,Yh,Zh), it performs the operation trolley coordinate B (Xs, Ys, Zs).
The specific method of the MARK point coordinate for the patient's body surface being still in table top coordinate system is obtained using positioning mechanical arm
Are as follows:
Four MARK points are pasted around patient's operative site, guarantee that four MARK points are not located at approximately the same plane；
Relative position between fixed operation trolley and patient, then successively acquires four MARK points using positioning mechanical arm
MARK point coordinate.
Although above having used general explanation and specific embodiment, the present invention is described in detail, at this
On the basis of invention, it can be made some modifications or improvements, this will be apparent to those skilled in the art.Therefore,
These modifications or improvements without departing from theon the basis of the spirit of the present invention are fallen within the scope of the claimed invention.
Claims (6)
1. a kind of both arms operating robot navigation locating method, this method is used for the precise positioning of medical mechanism arm, and feature exists
In: including the operation trolley with table top coordinate system, the operation trolley is equipped with navigation mechanical arm and positioning mechanical arm；
Obtain patient's medical image information；
Lesion profile is delineated according to patient's medical image information, building three-dimensional visualization lesion modeling determines three-dimensional visualization disease
Surgical site coordinate in stove modeling, the guidance path of planning navigation mechanical arm；
The coordinate mapping relations between the patient's body surface coordinate system and table top coordinate system are established, control navigation mechanical arm is moved to correspondence
The table top specified coordinate of surgical site coordinate.
2. a kind of both arms operating robot navigation locating method according to claim 1, it is characterised in that: the patient doctor
Learning image information is CT images or MRI image.
3. a kind of both arms operating robot navigation locating method according to claim 1, which is characterized in that described according to disease
People's medical image information delineates lesion profile method particularly includes:
Medical image is shown according to patient's medical image information；
The marked lesion contour edge point on medical image obtains lesion contour edge point coordinate set；
Three-dimensional visualization reconstruction is carried out by MachingCube iso-surface patch algorithm according to lesion profile coordinate set, obtains three-dimensional
Visualize lesion modeling.
4. a kind of both arms operating robot navigation locating method according to claim 3, which is characterized in that the determining disease
Surgical site coordinate in stove, planning inserting needle coordinate pathway method particularly includes:
The central area coordinate of lesion profile, as surgical site coordinate are determined according to lesion edge point set；
It is located at X-axis, Y-axis, the operating process of the movement on Z axis and rotation according to surgical site coordinate planning navigation mechanical arm.
5. a kind of both arms operating robot navigation locating method according to claim 1, which is characterized in that the foundation disease
Coordinate mapping relations between human body table coordinate system and table top coordinate system method particularly includes:
The MARK point coordinate for the patient's body surface being still in table top coordinate system is obtained using positioning mechanical arm；
If the set C1 of whole MARK point coordinate in the patient's body surface coordinate system, the MARK point that setting position mechanical arm picks up is sat in table top
Coordinate set C2 in mark system lets R be m × n rank spin matrix, M as m × n rank transition matrix, then has equation:
C2=R*C1+M；
Above formula is calculated using singular value decomposition SVD (Singular Value Decomposition)；
Wherein, centroidC1For the coordinate average value of C1, centroidC2For the coordinate average value of C2, the singular value decomposition of H is obtained
To matrix U, Σ, V；
[U, Σ, V]=SVD (H)；
Wherein, U is m × m rank unitary matrice, and it is n × n rank that Σ, which is positive semidefinite m × n rank diagonal matrix, and V, the i.e. conjugate transposition of R
Unitary matrice；
It obtains,
R=VUM；
Due to the patient's body surface coordinate system and difference of the table top coordinate system on scale, it is assumed that scale multiple is λ, then has
It is obtained after simplification
Wherein,
Spin matrix
Transition matrix
Therefore, the coordinate mapping relations between the patient's body surface coordinate system and table top coordinate system are as follows
Wherein, the coordinate A (X in the patient's body surface coordinate systemh,Yh,Zh), it performs the operation trolley coordinate B (Xs, Ys, Zs).
6. a kind of both arms operating robot navigation locating method according to claim 5, which is characterized in that utilize localization machine
Tool arm obtains the MARK point coordinate for the patient's body surface being still in table top coordinate system method particularly includes:
Four MARK points are pasted around patient's operative site, guarantee that four MARK points are not located at approximately the same plane；
Relative position between fixed operation trolley and patient, then successively acquires four MARK points using positioning mechanical arm
MARK point coordinate.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112155736A (en) * | 2020-10-12 | 2021-01-01 | 德智鸿(上海)机器人有限责任公司 | Double-arm surgical robot |
| CN112336462A (en) * | 2020-11-05 | 2021-02-09 | 华志微创医疗科技（北京）有限公司 | Intelligent master-slave combined mechanical arm |
| CN112773508A (en) * | 2021-02-04 | 2021-05-11 | 清华大学 | Robot operation positioning method and device |
-
2018
- 2018-09-18 CN CN201811090312.0A patent/CN109223179A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112155736A (en) * | 2020-10-12 | 2021-01-01 | 德智鸿(上海)机器人有限责任公司 | Double-arm surgical robot |
| CN112155736B (en) * | 2020-10-12 | 2021-09-10 | 德智鸿(上海)机器人有限责任公司 | Double-arm surgical robot |
| CN112336462A (en) * | 2020-11-05 | 2021-02-09 | 华志微创医疗科技（北京）有限公司 | Intelligent master-slave combined mechanical arm |
| CN112336462B (en) * | 2020-11-05 | 2022-03-18 | 华志微创医疗科技（北京）有限公司 | Intelligent master-slave combined mechanical arm |
| CN112773508A (en) * | 2021-02-04 | 2021-05-11 | 清华大学 | Robot operation positioning method and device |
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